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Fixed _step_entity_state() method #30

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Fixed _step_entity_state() method #30

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6 changes: 2 additions & 4 deletions safe_autonomy_sims/simulators/saferl_simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -392,10 +392,8 @@ def _step_entity_state(self, step_size: float, platforms_to_action: typing.Set[s
for entity_name, entity in self.sim_entities.items():
action = entity_actions.get(entity_name, None)

if action is not None:
entity.add_control(action)

entity.step(step_size=step_size)
if entity_name in platforms_to_action or not entity_name in self.platforms:
entity.step(action=action, step_size=step_size)

def _step_get_entity_actions(
self,
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